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    Device and method for the electrical testing of an electrical component
    1.
    发明授权
    Device and method for the electrical testing of an electrical component 有权

    公开(公告)号：US11845185B2

    公开(公告)日：2023-12-19

    申请号：US16606831

    申请日：2018-04-18

    申请人： Franka Emika GmbH

    发明人： Tobias Ende ,  Michael Haas ,  Saskia Golz ,  Sven Parusel ,  Simon Haddadin

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1633 ,  B25J9/1679 ,  G05B2219/39129 ,  G05B2219/40082 ,  G05B2219/45089

    摘要： A device and method for electrical testing of a component, the component including a contact point, wherein the device includes: an interface to provide the component; a robot manipulator having an effector configured to pick up, handle, and release the component; a receiving interface into which the component is insertable; a contacting device having a counter contact, the contacting device positioned in a first state so that the robot manipulator is able to insert/remove the component into/from the receiving interface, and positioned in a second state so that the counter contact is connected to the contact point of the component inserted into the receiving interface; an analysis unit connected to the counter contact and configured to perform electrical testing of the component using connection of the counter contact and the contact point in the second state; and a control unit to control the robot manipulator and the contacting device.

    DRILLING APPARATUS AND METHOD
    3.
    发明申请
    DRILLING APPARATUS AND METHOD 有权
    钻孔设备和方法

    公开(公告)号：US20150023748A1

    公开(公告)日：2015-01-22

    申请号：US14375979

    申请日：2013-01-29

    申请人： BAE Systems PLC

    发明人： Jonathan Michael Carberry ,  Austin James Cook

    IPC分类号： B23B39/14 ,  B23B35/00 ,  B23B49/00 ,  B25J9/16

    CPC分类号： B23B39/14 ,  B23B35/00 ,  B23B49/00 ,  B23B2215/04 ,  B23B2220/04 ,  B23B2260/128 ,  B23B2270/48 ,  B25J9/16 ,  B25J9/1682 ,  G05B19/4069 ,  G05B19/4099 ,  G05B2219/39109 ,  G05B2219/39116 ,  G05B2219/39121 ,  G05B2219/39129 ,  G05B2219/45059 ,  G05B2219/49113 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/47 ,  Y10T408/03 ,  Y10T408/08 ,  Y10T408/175 ,  Y10T408/21 ,  Y10T408/561

    摘要： Drilling apparatus and method, the apparatus comprising: a first robot (10); a first member (30) (e.g. a pressure foot) and a drilling tool (38) both coupled to the first robot (10); a second robot (12); and a second member (52) coupled to the second robot (12); wherein the apparatus is arranged to press the members (30, 52) against opposite sides of a part to be drilled (2, 100) (e.g. an aircraft panel) so as to hold the part (2, 100) and prevent deflection of at least a portion of the part (2, 100); and the first member (30) and the drilling tool (38) are arranged such that the drilling tool (38) may drill into the portion of the part (2, 100) of which deflection is opposed from the side of the part (2, 100) pressed against by the first member (30). The robots (10, 12) may be robotic arms.

    摘要翻译： 钻井装置和方法，所述装置包括：第一机器人（10）; 耦合到第一机器人（10）的第一构件（30）（例如压力脚）和钻孔工具（38）; 第二机器人（12）; 以及联接到所述第二机器人（12）的第二构件（52）。 其中所述装置被布置成抵靠所述待钻孔部件（2,100）（例如飞行器面板）的相对两侧的部件（30,52），以便保持所述部件（2,100），并防止所述部件 部分（2,100）的至少一部分; 并且所述第一构件（30）和所述钻孔工具（38）被布置成使得所述钻孔工具（38）可以钻入所述部件（2,100）的从所述部件（2）的所述侧部 ，100）被所述第一构件（30）按压。 机器人（10,12）可以是机器人手臂。

    Automatic working device
    5.
    发明授权
    Automatic working device 失效
    自动加工装置

    公开(公告)号：US08660688B2

    公开(公告)日：2014-02-25

    申请号：US13349563

    申请日：2012-01-13

    申请人： Katsunori Urabe ,  Keigo Ishibashi ,  Takashi Shiino

    发明人： Katsunori Urabe ,  Keigo Ishibashi ,  Takashi Shiino

    IPC分类号： G06F7/00 ,  G06F19/00 ,  G05B19/00

    CPC分类号： B25J9/0087 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39129 ,  G05B2219/39534

    摘要： An automatic working device according to an aspect of an embodiment includes a robot hand and a determining unit. The robot hand grips a target workpiece. The determining unit determines the type of the workpiece on the basis of a gripping operation for making the robot hand grip a gripped piece that indicates the type of the workpiece provided in a supply vessel that supplies the workpiece to the robot hand.

    摘要翻译： 根据实施例的一个方面的自动加工装置包括机器人手和确定单元。 机器人手握住目标工件。 确定单元基于用于使机器人手抓握指示设置在向工件提供给机器人手的供给容器中的工件的类型的夹持件的夹持操作来确定工件的类型。

    Displacement correcting method and displacement correcting program in automatic operation system
    8.
    发明申请
    Displacement correcting method and displacement correcting program in automatic operation system 有权
    自动操作系统中的位移校正方法和位移校正程序

    公开(公告)号：US20100332032A1

    公开(公告)日：2010-12-30

    申请号：US12801211

    申请日：2010-05-27

    申请人： Hisashi Moriyama ,  Takahiro Inada ,  Motonobu Sasaki ,  Shinji Kajihara

    发明人： Hisashi Moriyama ,  Takahiro Inada ,  Motonobu Sasaki ,  Shinji Kajihara

    IPC分类号： B25J9/10

    CPC分类号： B25J9/1682 ,  B25J9/1633 ,  B25J13/085 ,  G05B2219/39129 ,  G05B2219/39176 ,  G05B2219/45104 ,  Y10S901/09

    摘要： In an automatic operation system including: a positioning robot having a holding tool and an inertial sensor at a tip end portion of an arm thereof; a working robot having an operation tool at a tip end portion of an arm thereof; and a robot control device, a positioning correcting method of the present invention includes: conveying and positioning the holding tool, which holds a work, by the positioning robot at a positioning reference position of the holding tool corresponding to an operation position of the work; detecting a displacement amount of the holding tool from the positioning reference position by the robot control device based on an inertial force of the inertial sensor when the working robot carries out a predetermined operation with respect to the work; and correcting based on the detected displacement amount the positioning reference position of the holding tool to a position of the holding tool before the holding tool is displaced.

    摘要翻译： 一种自动操作系统，包括：定位机器人，其具有在其臂的末端部分处的保持工具和惯性传感器; 工作机器人，其臂部的前端部具有操作工具; 本发明的机器人控制装置，定位校正方法包括：通过所述定位机器人在与所述工件的操作位置对应的所述保持工具的定位基准位置处，传送并定位保持工件的工具; 当所述工作机器人执行相对于所述工件的预定操作时，基于所述惯性传感器的惯性力，由所述机器人控制装置从所述定位基准位置检测所述保持工具的位移量; 并且基于检测到的位移量将保持工具的定位基准位置校正到保持工具在保持工具移位之前的位置。

    ROBOT AND METHOD OF CONTROLLING COOPERATIVE WORK THEREOF
    10.
    发明申请
    ROBOT AND METHOD OF CONTROLLING COOPERATIVE WORK THEREOF 有权
    机器人和控制合作工作的方法

    公开(公告)号：US20090287354A1

    公开(公告)日：2009-11-19

    申请号：US12368673

    申请日：2009-02-10

    申请人： Jong Do Choi

    发明人： Jong Do Choi

    IPC分类号： B25J13/00

    CPC分类号： B25J9/1682 ,  B25J9/1633 ,  G05B2219/39116 ,  G05B2219/39129 ,  G05B2219/39224 ,  G05B2219/39344

    摘要： Disclosed are a robot, which performs cooperative work with a plurality of robot manipulators through impedance control, and a method of controlling cooperative work of the robot. The method includes calculating absolute coordinate positions of end effectors, respectively provided at a plurality of manipulators to perform the work; calculating a relative coordinate position from the absolute coordinate positions of the end effectors; calculating joint torques of the plurality of manipulators using the relative coordinate position; and controlling the cooperative work of the plurality of manipulators according to the joint torques.

    摘要翻译： 公开了一种机器人，其通过阻抗控制与多个机器人操纵器进行协同工作，以及控制机器人协同工作的方法。 该方法包括计算分别设置在多个操纵器上的末端执行器的绝对坐标位置以执行工作; 从末端执行器的绝对坐标位置计算相对坐标位置; 使用所述相对坐标位置计算所述多个操纵器的接合扭矩; 以及根据关节扭矩控制多个操纵器的协作工作。